相关论文: TurKPF: TurKontrol as a Particle Filter

Collaborative filtering is amongst the most preferred techniques when implementing recommender systems. Recently, great interest has turned towards parallel and distributed implementations of collaborative filtering algorithms. This work is…

The main goal in task planning is to build a sequence of actions that takes an agent from an initial state to a goal state. In robotics, this is particularly difficult because actions usually have several possible results, and sensors are…

Particle and ensemble filters are increasingly utilized for inference, optimization, and forecast; however, both filtering methods use discrete distributions to simulate continuous state space, a drawback that can lead to degraded…

Feedback particle filter (FPF) is an algorithm to numerically approximate the solution of the nonlinear filtering problem in continuous time. The algorithm implements a feedback control law for a system of particles such that the empirical…

Filters are the basic and most important blocks of most signal processing applications. In many applications, a group of parallel filters are used as filter banks. Parallel filter banks naturally require much more computations. Especially…

Generation of random thermal particle momenta is a basic task in many problems, such as microscopic studies of equilibrium and transport properties of systems, or the conversion of a fluid to particles. In heavy-ion physics, the…

Coordination of distributed agents is required for problems arising in many areas, including multi-robot systems, networking and e-commerce. As a formal framework for such problems, we use the decentralized partially observable Markov…

Collaborative filtering is a rapidly advancing research area. Every year several new techniques are proposed and yet it is not clear which of the techniques work best and under what conditions. In this paper we conduct a study comparing…

Particle flow Gaussian particle flow (PFGPF) uses an invertible particle flow to generate a proposal density. It approximates the predictive and posterior distributions as Gaussian densities. In this paper, we use bank of PFGPF filters to…

Crowdsourcing markets like Amazon's Mechanical Turk (MTurk) make it possible to task people with small jobs, such as labeling images or looking up phone numbers, via a programmatic interface. MTurk tasks for processing datasets with humans…

We investigate partially observed Markov decision processes (POMDPs) with cost functions regularized by entropy terms describing state, observation, and control uncertainty. Standard POMDP techniques are shown to offer bounded-error…

Classical simulations of time-dependent quantum systems are widely used in quantum control research. In particular, these simulations are commonly used to host iterative optimal control algorithms. This is convenient for algorithms that are…

A key challenge when designing particle filters in high-dimensional state spaces is the construction of a proposal distribution that is close to the posterior distribution. Recent advances in particle flow filters provide a promising avenue…

Cooperative Distributed Model Predictive Control (DiMPC) architecture employs local MPC controllers to control different subsystems, exchanging information with each other through an iterative procedure to enhance overall control…

This paper presents a joint optimisation framework for optimal estimation and stochastic optimal control with imperfect information. It provides a estimation and control scheme that can be decomposed into a classical optimal estimation step…

Particle filters have, in recent years, been found to perform well in highly nonlinear problems as well as in estimation of parameters. However, there is still the problem of particle degeneracy in particle filters which has led to the…

We analyze the behavior of a relativistic particle moving under the influence of a uniform magnetic field and a stationary electrostatic wave. We work with a set of pulsed waves that allows us to obtain an exact map for the system. We also…

Optimizing a partially observable Markov decision process (POMDP) policy is challenging. The policy graph improvement (PGI) algorithm for POMDPs represents the policy as a fixed size policy graph and improves the policy monotonically. Due…

In this paper, we propose a novel predictive safety filter that is robust to bounded perturbations and is implemented in an even-triggered fashion to reduce online computation. The proposed safety filter extends upon existing work to reject…

Many medical decision-making tasks can be framed as partially observed Markov decision processes (POMDPs). However, prevailing two-stage approaches that first learn a POMDP and then solve it often fail because the model that best fits the…